Journal ArticleDOI
Stabilisation of infinitesimally rigid formations of multi-robot networks
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TLDR
It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold of the multivehicle system.Abstract:
This article considers the design of a formation control for multivehicle systems that uses only local information. The control is derived from a potential function based on an undirected infinitesimally rigid graph that specifies the target formation. A potential function is obtained from the graph, from which a gradient control is derived. Under this controller the target formation becomes a manifold of equilibria for the multivehicle system. It is shown that infinitesimal rigidity is a sufficient condition for local asymptotical stability of the equilibrium manifold. A complete study of the stability of the regular polygon formation is presented and results for directed graphs are presented as well. Finally, the controller is validated experimentally.read more
Citations
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Proceedings ArticleDOI
Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation
TL;DR: Since the robots do not need any off-board localization system, but require only relative positions with respect to their neighbors, it can be aimed to have a full autonomous team that operates in environments where such localization systems are not available.
Proceedings ArticleDOI
Disturbance Observer Based Formation Control Of Multi Agent System
TL;DR: The objective of this work is to design an observer to estimate the disturbances and to manipulate the control effort appropriately so as to maintain the formation even in the presence of disturbances.
Dissertation
Distributed Coordination Theory for Ground and Aerial Robot Teams
TL;DR: In this paper, Roza et al. studied rendezvous, formation control, linear and circular formation flocking and formation path following for two important classes of robots, i.e., ground-based mobile robots and flying robots.
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Dimensional-invariance principles in coupled dynamical systems.
Zhiyong Sun,Changbin Yu +1 more
TL;DR: In this paper, the dimensions of the subspace spanned by solutions of a coupled dynamical system with scalar couplings and with matrix couplings were investigated and several invariance principles relating to the dimensions were established.
Journal ArticleDOI
rigidPy: Rigidity analysis in Python
TL;DR: rigidPy as discussed by the authors is a Python package that provides a set of tools necessary for studying rigidity and mechanical response in spring networks, including suitable modules for generating new realizations of networks with applications in glassy systems and protein structures.
References
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Posted Content
Coverage control for mobile sensing networks
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